Many methods for pose estimation using only color information have been proposed [1]}, [2]}, [3]}, [4]}.
Since depth cameras are commonly used, there have been many methods using both color and depth information [5]}, [6]}, [7]}.
Recently, there are also many CNN based methods [6]}, [7]}.
In general, methods that use depth information can handle both textured and texture-less objects, and they are more robust to occlusion compared to methods using only color information [6]}, [7]}.
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